12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix deprecated dExpInv_exp to ExpmapDerivative in simpleHeli

release/4.3a0
Jing Dong 2014-12-25 18:46:47 -05:00
parent ef2c9371a9
commit 19f823a1fa
2 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam_unstable/dynamics/SimpleHelicopter.h
View File

@ -60,7 +60,7 @@ public:
} }
if (H3) { if (H3) {
Matrix D_exphxi_xi = Pose3::dExpInv_exp(h_*xik)*h_; Matrix D_exphxi_xi = Pose3::ExpmapDerivative(h_*xik)*h_;
Matrix D_hx_xi = D_hx_gkxi * D_gkxi_exphxi * D_exphxi_xi; Matrix D_hx_xi = D_hx_gkxi * D_gkxi_exphxi * D_exphxi_xi;
*H3 = D_hx_xi; *H3 = D_hx_xi;
} }

2
gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp
View File

@ -57,7 +57,7 @@ TEST(Reconstruction, ExpmapInvDeriv) {
), ),
Vector6(Vector::Zero(6)), 1e-5 Vector6(Vector::Zero(6)), 1e-5
); );
Matrix dExpInv = Pose3::dExpInv_exp(h*V1_g1); Matrix dExpInv = Pose3::ExpmapDerivative(h*V1_g1);
EXPECT(assert_equal(numericalExpmap, dExpInv, 1e-2)); EXPECT(assert_equal(numericalExpmap, dExpInv, 1e-2));
} }